1. A method for controlling swaying and swinging of a spreader in a crane and the load attached thereto, the crane comprising:
a trolley,
hoist gears provided with hoist drums placed in the trolley,
hoisting ropes arranged on the hoist drums, on which the spreader is suspended from the trolley and which are directed back to the trolley through sheaves arranged on the spreader,
the swaying and swinging being controlled by control equipment comprising:
four auxiliary gears provided with rope drums and including motors and motor control equipment placed in the trolley,
auxiliary ropes arranged on the rope drums of the auxiliary gears,
sheaves for the auxiliary ropes placed in the spreader, through which sheaves the auxiliary ropes passing obliquely from the rope drums of the auxiliary gears are directed to spaces arranged in the hoist drums for the auxiliary ropes,
said method comprising;
controlling forces exerted on the spreader by each auxiliary rope driven by a corresponding auxiliary gear based on torque instructions;
determining said torque instructions by means of control logic which receives force data of the corresponding auxiliary rope and rotating speed data of the corresponding auxiliary gear,
said control logic providing and maintaining the desired rope forces, controlling the rotation and the resistance of the swinging of the spreader using said motor in the corresponding auxiliary gear;
forming said torque instruction in each corresponding auxiliary gear as sum of a static and a dynamic term;
calculating the static torque instruction based on a reference value of the rope force in the auxiliary gear, a measuring data of the rope force and the rotating speed of the auxiliary gear; and
a dynamic feed forward torque instruction Tdyn, calc, based on a change occurring in the calculated rotating speed of each auxiliary gear.
2. A method as claimed in claim 1, further comprising calculating the dynamic feedforward term Tdyn, calc based on the following formula:
Tdyn, calc=b\xd7J\xd7ddt(ncalc), where
b=a scale factor of units
J=an inertia mass parameter of the auxiliary gear, and
ddt(ncalc)=the change in the calculated speed of the auxiliary gear (the desired speed change).
3. A method as claimed in claim 1 calculating the rope force of each auxiliary rope by subtracting the dynamic torque required for accelerating the flywheel mass from the motor torque calculated by the motor control equipment, leaving the static torque representing the rope force.
4. A method as claimed in claim 3, further comprising calculating the rope force, Frope, in accordance with the following formula:
Frope=k\xd7(Tact\u2212b\xd7J\xd7ddt(nact)), where
b=a scale factor of units
nact=the measured rotating speed of the auxiliary gear, or ddt (nact)=the measured acceleration of the auxiliary gear,
J=an inertia mass parameter of the auxiliary gear
K=a constant conversion factor
Tact=the implemented torque data of the auxiliary gear.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A computer-implemented method for managing communication in a radio network, comprising:
obtaining, at a gateway computing device, a request to establish data communications with a mobile device over the radio network, wherein the request is transmitted from the mobile device to the gateway computing device via the radio network, wherein the request identifies an addressing protocol specification for the data communications over the radio network, and wherein the gateway computing device and the mobile device correspond to different physical computing devices interconnected via the radio network;
in response to the communication request, dynamically determining, at the gateway computing device, addressing protocol preferences for data communications with the mobile device, the addressing protocol preferences specified in at least one of an Internet Protocol version four addressing protocol and an Internet Protocol version six addressing protocol; and
transmitting, from the gateway computing device to the mobile device, an acceptance of the communication request, independent of the requested addressing protocol specification, to form a data communication channel, the acceptance of the response including the addressing protocol preferences, wherein the mobile device initiates communication via the formed data communication channel in accordance with the addressing protocol preferences.
2. The computer-implemented method as recited in claim 1, wherein the communication request includes identification information corresponding to at least one of the mobile device and a user of the mobile device.
3. The computer-implemented method as recited in claim 1, wherein determining addressing protocol preferences includes:
maintaining a table defining various addressing protocol preferences mapped to one or more mobile device attributes;
determining at least one mobile device attribute associated with the communication request; and
selecting addressing protocol preferences from the table based on the at least one mobile device attribute.
4. The computer-implemented method as recited in claim 3, wherein the one or more mobile device attributes includes mobile device type information, mobile device roaming status, mobile device roaming plan, supported operating system, software application information or use description.
5. The computer-implemented method as recited in claim 1, wherein transmitting the acceptance of the response to the communication request includes transmitting addressing protocol preferences including at least two addressing protocols.
6. The computer-implemented method as recited in claim 1, wherein the addressing protocol preferences include at least one primary addressing protocol and at least one secondary addressing protocol.
7. A computer-implemented method for managing communication in a communication network, comprising:
transmitting a request to establish communications via the communication network, wherein communications via the communication network can utilize two or more available communication protocols and wherein the request to establish communications does not include a specification of a communication protocol from the two or more available communication protocols;
obtaining an acceptance of the request to establish data communication, the acceptance of the communication request including an ordered preference of at least one communication protocol selected by a receiving gateway computing device, the at least one communication protocol dynamically specified in the two or more available communication protocols and wherein the acceptance is independent of an addressing protocol specification;
processing the ordered preference of the at least one communication protocol to select a communication protocol; and
causing communications via the communication network in accordance with the selected communication protocol.
causing communications via the communication network in accordance with the selected second communication protocol.
8. The computer-implemented method as recited in claim 7, wherein transmitting the request to establish communications includes transmitting one or more device attributes utilized, at least in part, to select the ordered preference of at least one communication protocol.
9. The computer-implemented method as recited in claim 7, wherein the communication network corresponds to a visited network and wherein transmitting the request to establish communications includes transmitting the request to establish communication to the visited network.
10. The computer-implemented method as recited in claim 7, wherein the ordered preference includes the specification of at least two communication protocols.
11. The computer-implemented method as recited in claim 10, wherein the ordered preference includes a designation of a primary communication protocol and a designation of a secondary communication protocol.
12. The computer-implemented method as recited in claim 7, wherein processing the ordered preference of the at least one communication protocol to select a communication protocol includes if a single communication protocol is specified in the ordered preference, selecting the single specified single communication protocol.
13. The computer-implemented method as recited in claim 12, wherein processing the ordered preference of the at least one communication protocol to select a communication protocol includes if two or more communication protocols are specified in the ordered preference, selecting a first communication protocol specified in the ordered preference; and causing communications via the communication network in accordance with the selected first communication protocol.
14. The computer-implemented method as recited in claim 13, wherein processing the ordered preference of the at least one communication protocol to select a communication protocol includes if two or more communication protocols are specified in the ordered preference, selecting a second communication protocol specified in the ordered preference if communication is not achieved via the first communication protocol specified in the ordered preference; and
causing communications via the communication network in accordance with the selected second communication protocol.
15. A computer-implemented method for managing communications via a communications network, comprising:
obtaining, at a gateway computing device, a request to establish communications with a mobile device over the communications network, wherein the request is transmitted from the mobile device to the gateway computing device via the communications network, wherein the request excludes a specification of a communication protocol utilized in communications over the communication network, and wherein the gateway computing device and the mobile device correspond to different physical computing devices interconnected via the communications network;
determining, by the gateway computing device, an ordered preference of addressing protocols specified in at least two applicable addressing protocols, wherein determining the ordered preference of addressing protocols include determining the ordered preference based, at least in part, on attributes associated with the request; and
transmitting, by the gateway computing device, a confirmation of the communication request, the confirmation including the ordered preference of addressing protocols.
16. The computer-implemented method as recited in claim 15, wherein the request to establish communications via the communication network includes identification information corresponding to at least one of a mobile device or a user of the mobile device.
17. The computer-implemented method as recited in claim 15, wherein determining the preference of addressing protocols includes:
maintaining a table defining various addressing protocol preferences mapped to one or more mobile device attributes;
determining at least one mobile device attribute associated with the communication request, wherein the mobile device attributes are selected from mobile device type information, mobile device roaming status, mobile device roaming plan, supported operating system, software application information, or use description; and
selecting the ordered preference of communication protocols from the table based on the at least one mobile device attribute.
18. The computer-implemented method as recited in claim 15, wherein determining the preference of communication protocols includes:
determining at least one mobile device attribute associated with the communication request; and
dynamically selecting the ordered preference of communication protocols from a table based on the at least one mobile device attribute, wherein the table defines various addressing protocol preferences mapped to one or more mobile device attributes.
19. The computer-implemented method as recited in claim 15, wherein transmitting the confirmation of the communication request includes transmitting an ordered preference of communication protocols including the specification of two or more communication protocols.
20. The computer-implemented method as recited in claim 19, wherein the specification of the two or more protocols includes the specification of at least one primary and at least one secondary communication protocol.